31 lines
925 B
Python
31 lines
925 B
Python
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from axi import Planner
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from math import pi, sin, cos
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def circle(cx, cy, r, n):
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points = []
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for i in range(n + 1):
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a = 2 * pi * i / n
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x = cx + cos(a) * r
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y = cy + sin(a) * r
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points.append((x, y))
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return points
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def main():
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points = circle(0, 0, 100, 90)
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points = [(-100, -100), (100, -100)] + points + [(100, 100), (-100, 100), (-100, -100)]
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for r in range(20, 100, 20):
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points = circle(0, 0, r, 90) + points
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planner = Planner(acceleration=50, max_velocity=200, corner_factor=1)
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pieces = planner.plan(points)
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# print 'var PIECES = ['
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# for p in pieces:
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# record = (p.p1.x, p.p1.y, p.p2.x, p.p2.y, p.acceleration, p.duration)
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# print '[%s],' % ','.join(map(str, record))
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# print '];'
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pieces = planner.smooth(pieces)
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# for p in pieces:
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# print p.acceleration, p.duration
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if __name__ == '__main__':
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main()
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